Axis control for guided missiles



23, 1954 LA VERNE R. PHILPOTT 2,670,158

AXIS CONTROL FOR GUIDED MISSILES Filed June 18, 1947 4 Sheets-Sheet 2 RESPONSE PATTERN RESPONSE RES NSE PATTERN PA ERN ANTENNA ANTENNA I RESPONSE PATTERN I wc/wfow LAVERNE R. P POTT SUM/M 19 LA VERNE RQPHILPOTT 2, 70,158

AXIS CONTROL FOR GUIDED MISSILES Filed June 18, 1947 4 Sheets-Sheet 3 swam/ton LAVERN E R. PHILPOTT 1954 LA VERNE R. PHILPOTT 2,670, 8

7 AXIS CONTROL FOR GUIDED MISSILES Filed June 18, 1947 4 Sheets-Sheet 4 LAVERNE R. PHI LPOTT Patented Feb. 23, 1954 UNITED STAT ES PATENT OFF I CE.

CGN-TROL FOR GUIDED MIS'SILES LaVernesR; Philpott, Washington,,D. 0.

Application June 18,1947, S'eriaPNo. 755,272

6: Claims.- (Cl;2447-7') (Granted under-Title 35, U1 S. Code (1952), see. 266) time fnustrateanyr attempts by unfriendlysources toljam the systemrland. thusconfuse the. missile vast-to the direction of.itsfiight.

mother objects-and.advantages ofthe invention will be. apparent from-the following detailed description, when-taken in.conjunction. withthe. accompanying; drawings which. illustrate a. preferred, embodiment. of the. invention,v and. in which:;

Fig. .1. is a schematic diagram. of. the? electrical circuitscomprising the invention,

- Fig. ,2. is a. transverse cross sectional view. of. a typical missile,. wherein certaina mechanical. featuresof. theinvention are. illustrated.

:Figa 3 is. a. diagram, showing the. relationship between.- the': electrical-circuits of, Fig.1 and the mechanical features: shown in, Fig. 2,

Fig. -3A.- is a. partial view of Fig, 3; showing, a .diiferent operatingrcondition, and.

Fig, 4, is a. partial longitudinal view showing. in crossasectiona certain of the. mechanical .features illustratedinrliig; 2..

In accordance with. the. present invention, piloting.oiamissileis accomplished byameans of radio energypulses, for example radar pulses, whichare modulated. with. audio frequencies. In this system,-,it is; cdntemplatedthatthe valueof the audio. frequency which. will modulate. the pulsewill dependonwhether itis desired toguide the..missile either to-the. right or left, or up-or down.v .The.modulated.pulsesWill berece-ivedby antennas. arranged, .for example, one to. each quadrant of.-..the:- transverse. cross section 'of .the -missile-,:-..-.each.zantenna.;having; pick up properties which fare-,1 in general, confined to. its respective .quadrant.- It. isvtherr contemplated-r that. the

modulatedtsignals-wreceived, from each quadrant Willibe applied to an! electronic blocking circuit which is. discriminatory; in. its action in. that. it functionsin: suchza' manner. as tapermit only: the pulsesignals. received from the: quadrant: most directly! in line withz the: guidingz source, and thus having; theamaximumzipowerz atz'itszpealaof any; of thezzsignalsz:received; tot: passz. In; this; manner, the; spinningr oi: th'ezsmissile'. while: it: is: ins-flight dcesnnt interrupt th'BE'CQntmIlOfithGklTIiSSilG} since the controlling signal i not received by a single predetermined antenna. on the missile but by. the

antenna viewed, at a particular instant, most.di-

rectly by the guiding source,.this antenna giving way to another. antennaasthe missile spins. approximately 9.0...The system further contemplates that. the. audio frequency signal will then be applied to actuate a gyroscopic space. anchor.

Referring, now, to. Fig.1. of. the accompanying drawings, a schematic diagram. is shown of the electrical circuits. constituting. the control system in the missile. This. embodiment comprises quadrant antennas H] through l3, inclusive, which may be, for instancaeither of the dipole type or of the Wave guide. type having pick up properties which. allow each antenna to receive signals from almost any direction. within on each side of the axis of the antenna. Said antennas, as shown, are arranged to be tuned by movable plungers 5 through 8, respectively.

Thus if,,as' inliig. 2 which is a. sectional view ofithe missile Which.illustrates the disposition of the antennas andthei'r response patterns, theiantennas I!) through I3, inclusive, are spaced at equal distance around a transverse cross sectional perimeter ofthe missile such that each antenna is able to receive signals'in its own quadrant, an antenna system will. result which will permit signals from all directions to be picked up by at least one and perhaps two. antennas... ItJwill" be seen that each. antennais designed to have.re.- sponse characteristics only to signals from such a direction as will reach it withouthaving to pass through the missile first. Thus a signal which impinges on antenna It] in' Fig. 2 will not be received by" antenna I 2. Otherwise, a signal." re.- ceived by both antennas l0 and I2 would impart equal and opposite actuating impulses to the gyroscopic control mechanism, as hereinafter described, with no: resultant force being. given thereto.

Referring, again to Fig. 1, after being intercepted byon'e' of the antennas [0 through I3, the signals. are detectedby a corresponding one of the detectors ldfthrou'gh. II, respectively, which maybe" crystal detectors; The signals which as aforementioned may; be radar pulse signals, are modulated in amplitude, in repetition rate, or in any other suitablemanner, byaudio frequencies. A different-"value'of audiofrequency may exist as the intelligence si'gnalfor each quadrant; thus, for" example; a modulating frequency of 1000 cycles-may impart a force to the missile such'as to-cause" it to turn' to' the left' with respect to its presentcourse; 1 200' 'cyc1es will' cause it' to turn tozthee right; 1400' -cycle w-ill". cause it toturn; sky-'- ward and 1600'cy'cl'e's to' 'turnaearthward;

. Ifi there:isxnonmodiilation', the. missile w-illl'continue'it'o travel: in itstfpresent course: i

Associated with each detector, l4 through [1, is a corresponding amplifier it through 2|, arranged to amplify the output of their respective detectors to a suitable working level. The output of each amplifier is in turn connected to the control grid of a respective triode, 22 through 25, which comprise the blocking circuit of the invention. Considering only the blocking circuit for the signals intercepted by the antenna It, with the understanding that the other blocking circuits perform in a similar manner, it will be noted that this circuit consists of a triode 22, a diode 26, a cathode resistance 30 and bypass condenser 3|. One side of the cathode resistance 30 and condenser 3| is connected to the cathode of the tube 22, as well as to the cathodes of the other tubes 23, 24, and 25 comprising the blocking circuits, and the other side is connected to the negative terminal of a suitable power supply 52. The diode 23 is connected such that its cathode is tied to the grid of the triode 22 and its plate is joined to the negative terminal of the power supply 52. A resistance 48 is placed in parallel with the diode 2B and provides a grid return for tube 22. The output from the blocking circuit is taken from the plate of the triode 22, and introduced to a series of audio frequency filters, whereby the modulation component impressed on the received signal may be selectively applied to an appropriate control mechanism as hereinafter described.

For the purpose of explaining the action of the blocking circuits, consider a pulse signal which is introduced to the grid of the triode 22 and is of such a magnitude as to cause plate current to flow. This current will produce a voltage across the cathode resistance 30 and the by-pass condenser 3| and thus will tend to place the cathode of the tube 22 as well as tubes 23 through 25, inclusive, at a positive potential with respect to the normal grid bias. The function of the condenser 3| is to smooth this biasing potential and to maintain it at a substantially constant value until the arrival of the next pulse. Therefore, the next pulse applied to any of the triodes in the blocking circuits must be of such an amplitude as to overcome the bias developed across cathode resistance 30 and capacitance 3! before itmay impart any control over the direction of the missile. Accordingly, only those signals received by the antenna or antennas most directly in line with the source will be able to impart directivity.

It is apparent, however, that the missile may be so positioned with respect to the control station that two antennas will pick up one control signal, for example a signal having the modulation frequency for turning the missile to the right. Thus, as shown in Fig. 2, for a signal which arrives from the guiding source in such a direction that its field strength at antenna I is of the same order of magnitude as at antenna ll, both of these signals will be allowed to pass through the blocking circuit and both signals will contribute towards actuating the gyroscopic space anchor so as to turn the missile to the right. It may be seen that modulation signals may be applied simultaneously so as to turn the missile in two directions at the same time--i. e., to the right and upwardbut these directions may not be diametrically opposed to each other as, for example, to the right and to the left.

Referring again to Fig. 1, the diode 26 is reverse connected to short out any signals on the grid 4 of the triode 22 that are negative with respect to the low voltage side of the resistance 30 and thus it serves to maintain the positive potential on the resistance 30.

The pulse outputs from the blocking circuits are then taken from the plates of the triodes, and are applied to a series of filters associated therewith. In the case of triode 22, the filters are shown at 32 through 35, it being understood that a somewhat similar filter series is associated with each of the other triodes 23, 24, and 25 in the blocking circuits. In each filter series there are four filters, one for each modulation frequency used in guiding the missile. The filters in each series serve to channelize the audio frequency modulation picked up by its antenna to the proper mechanical means for turning the missile in the desired direction. Filters 32 through 35, inclusive, comprise the filter unit associated with the first blocking circuit connected to antenna I0, filters 36 through 39, inclusive, 40 through 43, inclusive, and 44 through 4! inclusive, serve to channelize correctly the signals from antennas H, l2, and [3, respectively. Thus, assuming that the audio frequencies have values of 1000, 1200, 1400, and 1600 cycles per second, the filters for the first series may be arranged such that filter 32 might respond to only 1000 cycles, filter 33 to only 1200 cycles, filter 34 to only 1400 cycles, and filter 35 to only 1600 cycles. Then, in the second series, filters 36, 31, 38, and 39 might serve to respond only to 1600, 1400, 1000 and 1200 respectively. Likewise, filter units 40, 4|, 42, and 43 might serve to channelize audio frequencies of 1200, 1000, 1600, and 1400 respectively, and filter units 44, 45, 46, 41 to channelize 1400, 1600, 1200, and 1000 cycles respectively.

From the drawing it will be noted that the output of the 1000 cycle pass filter 32 associated with antenna I0 is brought out to a lead 53 which connects to a suitable control mechanism hereinafter described for applying a turning force in one direction to the missile. The output of the other 1000 cycle pass filters associated with the other antennas are brought out to distinct leads, 55, 54, and 56 respectively which connect to similar control mechanism. This is done for the reason that the turning force applied by the mechanism connected to lead 53 in response to a modulation frequency must be at right angles to that derived from antenna ll since the latter antenna is located on the missile at right angles to antenna l0 and before it can come into play the missile must spin or rotate about its axis. Similarly the 1000 cycle note from antenna I2 which is displaced mechanically from antenna 10 must operate to apply a force 180 out of phase with that from antenna [0 since the missile must be turned in the same direction regardless of which antenna receives the signal.

In following the staggered interconnections of the filters it will be seen that the outputs of filters 32, 36, 40, and 44 in respect to antennas H), H, [2, and I3 are all joined to lead 53. Through lead 53 said filter outputs are introduced to a mechanism hereinafter described in connection with Fig. 3, which will apply a force in a specific direction to the gyroscopic space anchor so as to cause the missile to change its direction. Similarly, the outputs from the filters 33, 31, 4|, and 45 are brought together and introduced through the lead 54 to a similar mechanism which will apply a force to the gyroscopic "space anchor in a direction that will'be opposite tothat applied above. Likewise; the outreaction; 1 in this .case, upward; rwill'nccur for othen sets of conditions of: modulati- -za ezo;rse

two common terminals: and :area introduced through: the leads 555andr 53; respectively, to: two "mechanisms; similar" to: those; described:v above whichz-willlproduce :fOI'CGS onzthe? spacexancho'rf perpendicular; to thosei produced-.1 above huti'opposite in directionwith respect :to". eachrother: It cwillithusbevseenr that;thelactuatingrsignals; are

able 4130': turn: themissile in four "directions; each iofiwhiclr-isieither attaniangleiof' flf;r180E, vor: 270 with respect tothez-others.

.It willln'ow 'bezexplaine'di why modulatingrfren'a'ls; "the: signal? willxpass from theL-antenna' I through" the :blocking :circuit' comprising: the; tube 22 andzthrough the filter 3.2; which is: designed .tozpassc1000.:cyclessignals: t'o-zthe output ltBlTHlll'lEtl A'imOmBIIlZLIQIBI; whenpthe:missilerhasispun "fllTOllIldiBOf-fl' antenna: ll 'Wl11 .IB0elV8I'thei signal 'andt-lthei signal will; pass; through the filter. 38 'to thez'output lead :55; It will immediatelycbe: observedthatctheeoutputjead 515' actuatesia mechanism: producingai azforce'z on". the missile: which is at? right! angles with the: force actuated by the signal fromzthes;output:lead.53:

has -i-spun" 90.? intthi'si intervalran'd'; thus :the: forces transmitted; to: the: missileixwillztend to turnzth'e vmissilesin thezsame' direction. Suppose; ass-anothersexample' that: it: is? desired? to; turn: the missile upward and that the modulating frequency is 1600Ecycles. Ifttlie antennai H is positionedisuch i that: it will receive the signalifrom;the:control 'source; theasignalxwill passthroughitheifilter unit 36 150 the channel 53; Aamomentilater;thezmissile has spun so i that: antenna: 1 2 i receives the: signal. Now': filter 42; passes the .signal to'i'channeli 55.

Channels "53iand': 55.;actuate mechanismsrproduci ing forces at right angles to eachzo'thershut since the missile" has-:spun that same: 90? duri'ngithis interval, the two forces-produced: one t after: the

other: will .tendtto' turn the: missile inathessameszdie- This: samea-result ing: frequencies" and. antenna.- positions Withilffi spect: to? the: guiding source: and". thee result. will not .beafiectefd' by.v thermissilez spinning .inia clock:-

wise :orcounterclockwise" direction. It may-be seenthat if the. modulatingfrequencies .were-not staggered in one channel but all .of:the:1.(l00 cycle signals, for example, from;fi'lter:-units; 32;;38,'-4i, andid! "were COIIIIBGtBKi'iIl" one; channel, forces in :diiferentidirectionscwould':resultzwhen'ithe-missile was; spinningrand: thus; the missileiwould rnotxtbe ableztorbe i-guiderh. vThus theiproblemathat vmayfbe presented in. .a1.systemrfbnguidingrthe course" of the: missile, where a the missile; becomes" confused fas- -to its sorientationzbecause f: theamissilet'spim ningiwhile"in'zfiight issnot';presented'iinzthezprese entrinventiomxsince :aa modulatingsignahhavin gfia particular ifrequencywill be introduced: tov an actuating. means. which will turn the i missile: in the idesired';directionzregardless'offwhat antenna intercepts thevsi'gnall 'ifIlie mechanical actuating' means:: fen-turning, $118? missile iii-raw particular: directiom; isasliown But themissile more clean-yin Figs: zzandoh. 'iThesinterconnece- 'tionrhetween the electrical circuits offtEigriL and thexme'chanicali actuating means; shown; in .Figs. 2; and); will (be? describediinz detailiin connection with Fig. 3san'dsliigz3lAs vIm Fig. 2',-'.W1li(3hi isatransverse cross sectional view of? the: .1 missiletakenzthroughi the lines? 2-4! of? Figs 4; the :antennas; and the: mechanical ac:- tuating:meansirnayv b'ecseens in crosstssection. .The antennas I drthrough'i I3 i are 'spa'cedzin' quadrature aboutxrrthe" transverse periphery of: the missile body-'9: Asshcwn; .said antennas ICOIlSiStJIOfhOlGS cut: into the missile: body; a: depth of one; quarter wave-length: of the: carrier frequency. This depthimayzbe adjustedzby the movable plungers vdsthrough .82; respectively. n This design provides antennas'having veryxlittle'lefiect on the airfoil of tthe missile; There areifourcylindricalicham bers fil through :spacedin quadrature with-irespectfttorthe transverse; cro'sstzsectioni within: the bo'dy of: theamissile: Eour pistons: 61" through: 64 -arerlocated". one each-in the saidifour cylinders. Said pistons; are mechanically connected; as; by connectin'grrods and yokes: to the gyroscopic fspa'ceeanchor? 65: The mechanical: operation1of theipistonsxand the: space: anchor is controlled by; the." hydraulic: valves Hlrand' as described below in:- connection: with' Fig: 3 andxEig: 4.. In Fig.2. 27 the relation of: the. pistons: to: eachi'other, to'ath'e: spaceanchor, and toxthe antennasican be seen.

If? a signal: is=received atlany antenna modulatedito turn the missile upwardpvalvewQfl will; be m'oyed so asto; force: oileinto cylinder '60 andtout ofcylinder-'58 therebyiintroducing arpressure against piston .64;- and: removing? pressure from :piston 11:62.2. This: change: in. pressure: produces; a forcetoithe left-'upon'thexpistons-i6 2 and: which is=transmitted to; the space' anchor 6'5.. Fig". 2 illustrates: the leftwardz'force justtdescribedz Fig. a showsta; mechanicalLactuatingmeans for transferring the: received signals"v to mechanical energy suitableito' produce sa vpiston' action similar tmthatQreferredZ'toJ above in connection withiFig. 2.. i'Ih-esmechanical actuating means. is shown with"; tuber 22 1 of zEig; .71? vand. its' associated filters through 213:5. The" other tuhes- '23. through -i 25 of Fig 1" are? not: shown. but their: connection. to the: mechanical: actuating: means 3 is indicated :;by the; terminals 531 through 56: which" also appear in Fig.1 1; Thefilters-shownare paralleliresonant circuits ;connected in; serieshetweenzthe plate of thertube- 2 2 r and the; plate. power supply. When ar signali is appliedi to: said i tube at": a; frequency tU-WhiC'hT-OIIEiOfi its associatedfilters is tuned; the highainterna'l impedance; presented "by "thatl'filter willspermitta largez signal toa'be coupledifrom the inductive branch; of I said filter: The. signal coupled from the'filter, after being' rectified, maywbe: used: to: energize a: relay arranged". to open repair of valves 'whichichange' the: oil presesuziew in: one-i oftthe pairs? of opposite cylinders: of Fig-2; Eigi 3ishows :only the oil"pressure1control mechanism forthe 1600'1-cycle filter-35 and the 1200 cycle filter- 332 "Filters 32 and '34 operate the remaining-two: opposing. pistons: 62 and 6'4 not here shown: by identical means:

The function Of'the' actuating means may be clearly *seen by tracing a signal througliifig; 3. Choosing 'a' 1600 cycle signal, the signalwill resonate' the' ljdfio' cycle filter iifii The signal energy is then coupled from the-filter'and-fed througlr a' 'line 56* to*a bridge rectifier-fi'l: The rectifiedisignal is thenzapplied to relayfi Bfiwhith closes a circuit energizing the selenoidf 89 2 The energy 'in the solenoid moves a hydraulic valve 10 upward. The hydraulic valve is contained in a valve chamber having three connections leading to an oil reservoir not shown. One of these connections I2 is in the center of the valve chamber and permits oil to be forced into the chamber under pressure. The remaining connections 13 and 14 to the reservoir are located respectively at the top and bottom of said chamher and their function is to discharge oil from the chamber to the reservoir. Another opening 15 in the valve chamber II leads to the cylinder 59 of piston 63. Another opening 16 leads to the cylinder 51 of the opposite piston 6|. Said last two openings are arranged so that when the valve 19 is in its normal position, both are closed. When valve is is moved either up or down, both said openings are opened. If valve 10 is moved upward by solenoid E9, connection 15 is opened to the reservoir input connection 12 and connection 1'5 is opened to the lower discharge connection 14. Thus oil is forced into the upper cylinder 59, pushing piston 63 downward, thus putting a downward force on the space anchor bearings 66 and 55. Said downward force is also transmitted to the lower piston 61 which forces oil out of its cylinder 51 and out the discharge [4 to the reservoir. It should be noted that an upward force is produced on the cylinders equal and opposite to the downward force in the pistons.

The position of the valve 19 for the action just described is shown in Fig. 3A, in which the fiow of oil to and from the reservoir is shown by arrows. After the 1600 cycle signal subsides, valve 19 will lower closing connections l and '16. The greater pressure in upper cylinder 59 as compared to that in the lower cylinder 5? and hence the downward force on the space anchor 65 and 56, will remain until changed by a subsequent movement of the valve 19 responsive to a subsequent signal of 1600 or 1200 cycles. A 1200 cycle signal would, of course, resonate in filter 33, produce a downward movement upon valve 19, and have an opposite effect upon the pressure in cylinders 51 and 59.

Fig. 4, which is a longitudinal cross sectional view of the missile, shows in greater detail the construction of the space anchor. A pair of cylindrical weights l1 and 18 are rotatably mounted within the missile body on a pair of shafts l9 and 80 respectively. Rotation of said weights is produced by motor means 89 and 99 shown flexibly coupled to shafts 19 and 80 respectively. The weights and their respective shafts are located on either side of the piston housing comprising the cross sectional view of Fig. 2. The shaft I9 of weight H, shown to the left of the housing, is supported at its ends by bearings BI and 82. These bearings BI and 82 have a spherical shape which allows them to turn in any direction inside their respective bearing housings 83 and B5. The left bearing housing 83 is an integral part of the missile body 9. The right bearing housing 66 is mechanically linked to the four pistons of Fig. 2, two of which are not shown in the figure, and responds to movements thereof. The cylindrical weight H is rotated about its shaft 19 by motor means 89. It may be given a pressure tending to rotate it about its bearing 83 by forces on the pistons 51, 58, 59, and 6B.

The other cylindrical weight 18 on its shaft 80 is mounted in bearing housing 65 and 84 in the same manner as the left weight 11. Said 8 weight 18 is also rotated about its shaft 89 by a motor means 99 but it is rotated in the opposite direction to the left weight 11.

Now if a signal with a 1600 cycle modulation is applied to antenna 10, it has been shown in Fig. 3 that the pistons 63 and El and the movable bearing housings 6B and 55 will try to move downward. This downward force will be transmitted through the integral housings 83 and 84 at the opposite end of each rotatable shaft to the missile body, where it is counteracted by the upward force of the cylinder 59. Assuming a direction of rotation for the two weights such that the top of the left weight 11 is coming out of the plane of the paper and the top of the right weight it! is going into the plane of the paper, then with the downward force from the pistons, each shaft has two tendencies toward rotation, one tendency because of the opposite rotation of the two shafts and the other tendency because of the downward pressure from the piston. From these two tendencies a precession movement will be established in a third direction. This precession movement will produce a tendency for the shafts to rotate about the integral bearing housings 83 and 8 11 such that the end of shaft 89 within bearing housing 84 will go into the plane of the paper and the end of shaft 19 including bearing housing 83 will come out of the plane of the paper. This tendency of motion cannot be absorbed within the missile and since there is no opposing force, the missile body will be turned in space such that its nose goes into the plane of the paper and its tail comes out of the plane of the paper. The actual change of direction of travel is accomplished by the aerodynamic lift developed on the side of the missile. In the orientation of the drawings the precession described will cause the missile to turn to the left.

The missile will respond similarly to forces upon the other pistons. It should be noted that this system would operate equally well using two pistons and cylinders instead of four. If only two were used the opposing chamber for each piston would be on the connecting rod side of the piston instead of in an oppositely placed piston and cylinder.

While certain preferred embodiments of this invention have been described, it is realized that many modifications and variations of this invention may be made and no limitations upon this invention are intended other than may be imposed by the scope of the appended claims.

The invention described herein may be manufactured and used by or for the Government of the United States of America for governmental purposes without the payment of any royalties thereon or therefor.

What is claimed is:

1. In a radio control system having a modulated carrier wave, means for guiding a spinning missile in response to the modulation characteristic impressed on said carrier wave, comprising, a plurality of directive antennas spaced circumferentially about the periphery of said missile to provide adjacent response patterns, control means operative to impart an up, down, right, or left turning movement to said missile in accord with and responsive to the modulation characteristic of the received signal, a separate receiving channel connecting the output of each of said antennas to said control means, each of said channels being operative to control the action of said control means in response to the modulation characteristic of said received signal, and means interconnecting said receiving channels operative responsive to the channel receiving the strongest incoming signal, to render the remaining channels temporarily inoperative.

2. In a radio control system having a modulated carrier wave, means for guiding a spinning missile in response to the modulation characteristic impressed on said carrier Wave comprising, at least four directive antennas circumferentially spaced about the periphery of said missile to provide adjacent response patterns, control means including four signal input channels operative to impart an up, down, right, or left turning movement to said missile in accord with and responsive to the modulation characteristic of the received signal, a receiving channel means for each antenna, each of said receiving channel means including a series of filter circuits operatively connecting its respective antenna to each input channel of said control means, said filter circuits being operative to selectively transfer the energy of the received signal to the input channels of said control means in accordance with the modulation characteristic of said received signals, and means interconnecting said receiving channels operative responsive to the channel receiving the strongest incoming signal, to render the remaining channels temporarily inoperative.

3. In a radio control system having a modulated carrier wave, means for guiding a spinning missile in response to the modulation characteristic impressed on said carrier wave comprising, at least four directive antennas circumferentially spaced about the periphery of said missile to provide adjacent response patterns, control means including four signal input channels operative to impart an up, down, right, or left turning movement to said missile in accord with and responsive to the modulation characteristic of the received signal, a receiving channel means for each antenna, each of said receiving channel means including an amplifier means and a series of filter circuits operatively connecting its respective antenna to each input channel of said control means, said filter circuits being operative to selectively transfer the energy of the received signal to the input channels of said control means in accordance with the modulation characteristic of said received signals, and signal integrating means common to said receiving channel means, said signal integrating means being operative responsive to signals received at any said receiving channel means to temporarily increase the bias upon all said amplifier means rendering said receiving channel means unresponsive to smaller signals.

4. A radio-controlled missile comprising a pair of weights rotating in counterrelation and in axial alignment with respect to one another and with respect to the axis of the missile, the opposite ends of said weights being pivotally journalled to walls of said missile, the adjacent ends of said weights being pivotally journalled to at least one pair of yokes carried respectively by at least one pair of pistons arranged in space quadrature relation, said pistons being operative upon application of a displacing force thereto, to produce a misaligning force upon said weights in a selectable direction so as to produce a selectable turning movement to said missile, separate control means operatively con nected to each of said pistons to control the displacing iorce thereon, a directive antenna system arranged one antenna to each quadrant of the transverse periphery of the missile, a separate receiving channel means interconnecting each of said antennas to each of said control means, said receiving channel means operative to transfer a control signal to said control means to effect a displacing force upon said pistons responsive to and in accordance with the modulation characteristic of an incoming radio signal.

5. A guided missile comprising, a pair of weights rotating in counterrelation and in axial alignment with respect to one another and with respect to the axis of the missile, the opposite ends of said weights being pivotally journalled to Walls of said missile, the adjacent ends of said weights being pivotally journalled to at least one pair of yokes carried respectively by at least one pair of pistons arranged in space quadrature relation, hydraulic control means operatively connected to each of said pistons for selectably applying a displacing force to said pistons and their associated yokes, said pistons being operative upon application of a displacing force thereto, to produce a misaligning force upon said weights in a selectable direction so as to produce a selectable turning movement to said missile, a directive antenna system arranged one antenna to each quadrant of the transverse periphery of the missile, a separate receiving channel means interconnecting each of said antennas to each of said control means, said receiving channel means operative to transfer a control signal to said control means to effect a displacing force upon said pistons responsive to and in accordance with the modulation characteristic of an incoming radio signal.

6. A guided missile comprising, a pair of weights rotating in counterrelation and in axial alignment with respect to one another and with respect to the axis of the missile, the opposite ends of said, weights being pivotally journalled to walls of said missile, the adjacent ends of said weights being pivotally journalled to at least one pair of yokes carried respectively by at least one pair of pistons arranged in space quadrature relation, electric valve operated hydraulic control means for selectively introducing oil under pressure to said pistons whereby a force may be imparted thereto and to their associated yokes, said pistons being operative upon application of a force thereto, to produce a misaligning force upon said weights in a selectable direction so as to produce a selectable turning movement to said missile, a directive antenna system arranged one antenna to each quadrant of the transverse periphery of the missile, a separate receiving channel means interconnecting each of said antennas to each of said control means, said receiving channel means operative to transfer a control signal to said control means to effect a displacing force upon said pistons re sponsive to and in accordance with the modulation characteristic of an incoming radio signal.

LA VERNE R. PHILPOTT.

References Cited in the file of this patent UNITED STATES PATENTS Number Name Date 887,443 Thayer May 12, 1908 FOREIGN PATENTS Number Country Date 184,526 Great Britain July 31, 1922 388,230 France May 26, 1908 

